Follow-up falling control method and device, processing equipment and readable storage medium
By acquiring and calculating the signal decay rate during CNC machining and adjusting the follow-up descent speed planning, the problem of cutting head overshoot or collision caused by signal decay is solved, achieving higher machining accuracy and efficiency.
Patent Information
- Application Number
- CN202511379329.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-25
- Publication Date
- 2026-01-16
AI Technical Summary
In CNC machining, an excessive signal decay rate can lead to the risk of the machine tool cutting head overshooting or hitting the plate, especially when the decay signal is not processed in time during high-speed follow-up descent.
By acquiring the position and height information of the current and previous acquisition cycles and the signal decay rate calculation model during the homing descent process, the average signal decay rate is determined, and the homing descent speed of the next acquisition cycle is planned based on this information, including the planned speed, acceleration and jerk, in order to adjust the speed trajectory state.
It effectively improves the risk of machine tool cutting head overshoot or collision caused by failure to handle signal decay in time during high-speed follow-up descent, ensuring the accuracy and adjustability of follow-up descent and meeting higher CNC machining requirements.
Smart Images
Figure CN121348842A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of CNC machining, and in particular to a follow-up falling control method, device, machining equipment, and readable storage medium. Background Technology
[0002] With the continuous development of CNC machining technology and the increasing variety of CNC machining demands, the requirements for CNC machining effects are becoming increasingly stringent. Laser CNC machine tools mostly utilize capacitive feedback height, and the quality of the signal is the foundation of motion control. Often, the signal decays, requiring manual processing of these decaying signals. Furthermore, during machining, the signal decay rate exhibits a similar changing pattern as the nozzle height decreases.
[0003] When the signal decay rate is too high, if the decay signal is not processed in time during the high-speed follow-up descent, it may cause the machine tool cutting head to overshoot or even hit the plate. Summary of the Invention
[0004] Therefore, it is necessary to provide a follow-up falling control method, device, processing equipment, and readable storage medium to address the above-mentioned technical problems.
[0005] A follow-up falling control method includes:
[0006] Acquire position and height information of the current acquisition cycle and the previous acquisition cycle, and a signal decay rate calculation model during the homing descent process;
[0007] Based on the location and height information and the signal decay rate calculation model, the average signal decay rate during the homing descent process is determined.
[0008] Based on the average signal decay rate and the position height information, the follow-up descent speed planning information for the next acquisition cycle is determined.
[0009] In one embodiment, the position and height information includes position feedback values and height feedback values for the current acquisition cycle and the previous acquisition cycle. Determining the average signal decay rate during the homing descent process based on the position and height information and the signal decay rate calculation model includes:
[0010] Based on the position feedback value and the height feedback value, determine the single-cycle signal decay rate of the follow-up descent process;
[0011] The average signal decay rate of the follow-up falling process is determined based on the single-cycle signal decay rate and the signal decay rate calculation model.
[0012] In one embodiment, determining the average signal decay rate of the follow-up falling process based on the single-cycle signal decay rate and the signal decay rate calculation model includes:
[0013] Obtain the preset moving average window size;
[0014] Substitute the preset moving average window size and the single-cycle signal decay rate into the signal decay rate calculation model to determine the average signal decay rate of the follow-up falling process.
[0015] In one embodiment, determining the single-cycle signal decay rate of the follow-up descent process based on the position feedback value and the height feedback value includes:
[0016] Obtain the difference between the position feedback value of the current acquisition cycle and the previous acquisition cycle, and the difference between the height feedback value of the current acquisition cycle and the previous acquisition cycle;
[0017] The single-cycle signal decay rate of the follow-up descent process is determined based on the difference between the position feedback value and the height feedback value.
[0018] In one embodiment, the position height information includes the height feedback value of the current acquisition cycle, and the step of determining the follow-up descent speed planning information for the next acquisition cycle based on the average signal decay rate and the position height information includes:
[0019] Based on the height feedback value of the current acquisition cycle and the average signal decay rate, determine the planned displacement target value for the next acquisition cycle;
[0020] Based on the planned displacement target value, the follow-up falling speed planning information for the next acquisition cycle is determined.
[0021] In one embodiment, determining the follow-up falling velocity planning information for the next acquisition cycle based on the planned displacement target value includes:
[0022] Obtain the initial motion characteristic parameters and velocity planning constraint values of the follow-up falling process;
[0023] Using the speed planning constraint value as a constraint condition, the follow-up falling speed planning information for the next acquisition cycle is determined based on the planned displacement target value and the initial motion characteristic parameters.
[0024] In one embodiment, the velocity planning constraint values include acceleration constraint values and jerk constraint values, and the initial motion characteristic parameters include the initial velocity and initial acceleration for any acquisition cycle;
[0025] The process of determining the follow-up falling velocity planning information for the next acquisition cycle based on the planned displacement target value and the initial motion characteristic parameters, using the velocity planning constraint value as a constraint condition, includes:
[0026] Based on the planned displacement target value, determine the planned velocity target value for the next acquisition cycle;
[0027] Using the acceleration constraint value as a constraint condition, the planned acceleration target value for the next acquisition cycle is determined based on the planned velocity target value and the initial velocity of any acquisition cycle.
[0028] Using the jerk constraint value as a constraint condition, the planned jerk target value for the next acquisition cycle is determined based on the planned jerk target value and the initial acceleration of any acquisition cycle.
[0029] A follow-up falling control device, comprising:
[0030] The acquisition module is used to acquire the position and height information of the current acquisition cycle and the previous acquisition cycle, as well as the signal decay rate calculation model during the follow-up descent process;
[0031] An average attenuation determination module, connected to the acquisition module, is used to determine the average signal attenuation rate during the follow-up descent process based on the position height information and the signal attenuation rate calculation model.
[0032] The speed planning module, connected to the average attenuation determination module, is used to determine the follow-up falling speed planning information for the next acquisition cycle based on the average signal attenuation rate and the position height information.
[0033] A processing apparatus includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the method described above.
[0034] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.
[0035] A computer program product that, when run on a terminal device, causes the terminal device to perform any of the methods described above.
[0036] The beneficial effects of the embodiments provided in this application include:
[0037] This follow-up descent control method, during the speed planning process of follow-up descent, determines the average signal decay rate of the follow-up descent process, which reflects the decay of the detected signal, based on the position and height information (such as position feedback value and height feedback value) of the current acquisition cycle and the previous acquisition cycle, and the signal decay rate calculation model. Then, based on the obtained average signal decay rate and position and height information (such as the height feedback value of the current acquisition cycle), it determines the follow-up descent speed planning information (such as planned speed, planned acceleration, and planned jerk) for the next acquisition cycle, which can adjust the trajectory state of the speed planning during the follow-up descent process. This allows for adjustment of the trajectory state of the speed planning based on the signal attenuation during the follow-up descent process, effectively mitigating the risk of machine tool cutting head overshoot or even collision due to untimely processing of decay signals during high-speed follow-up descent. It can ensure both the efficiency and accuracy and adjustability of the follow-up descent, thereby meeting higher requirements for CNC machining effects. Attached Figure Description
[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0039] Figure 1 This is a flowchart illustrating a follow-up descent control method in one embodiment;
[0040] Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment;
[0041] Figure 3 This is a schematic diagram of the specific process of step 106 in one embodiment;
[0042] Figure 4 This is a schematic block diagram of the structure of a follow-up falling control device in one embodiment;
[0043] Figure 5 This is a schematic block diagram of the average attenuation determination module 40 in one embodiment;
[0044] Figure 6 This is a schematic block diagram of the specific structure of the speed planning module 60 in one embodiment;
[0045] Figure 7 This is a schematic diagram of the processing equipment in one embodiment. Detailed Implementation
[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0048] Figure 1 This is a flowchart illustrating a follow-up descent control method in one embodiment.
[0049] In this embodiment, as Figure 1 As shown, the follow-up falling control method is applied to the machining trajectory of the interpolation axis and the coupling axis. The follow-up falling control method includes steps 102 to 106.
[0050] Step 102: Obtain the position and height information of the current acquisition cycle and the previous acquisition cycle, and the signal decay rate calculation model during the follow-up descent process.
[0051] The follow-up descent process can refer to the process of the machining head following the movement during laser planar machining. The acquisition period can be the time interval for the sensor to acquire the capacitance signal during the follow-up descent process. The position and height information can be the position detection information and height detection information of the machining head nozzle during the follow-up descent process. The signal decay rate calculation model can be a formula used to calculate the decay of the capacitance signal due to mechanical reasons or special machining conditions during the follow-up descent process. Optionally, the position and height information includes position feedback information and height feedback information.
[0052] The scenarios for obtaining position and height information of the current acquisition cycle and the previous acquisition cycle during the follow-up descent process include: using position detection and height detection sensors to detect the position and height information of the processing head during the follow-up descent process of laser plane processing, so as to obtain the position and height information of the current acquisition cycle and the previous acquisition cycle during the follow-up descent process.
[0053] Step 104: Determine the average signal decay rate during the descent process based on the position and altitude information and the signal decay rate calculation model.
[0054] The average signal decay rate can be the average decay of the capacitor signal within a preset data range during the follow-up falling process.
[0055] The scenarios for determining the average signal decay rate during the descent process based on position and altitude information and the signal decay rate calculation model include: determining the average signal decay rate during the descent process based on the position feedback value, altitude feedback value, and signal decay rate calculation model of the current and previous acquisition cycles.
[0056] Step 106: Based on the average signal decay rate and position height information, determine the follow-up descent speed planning information for the next acquisition cycle.
[0057] The homing descent velocity planning information can be used to adjust the trajectory state of the velocity planning during the homing descent process in the next acquisition cycle. Optionally, the homing descent velocity planning information includes a planned velocity target value, a planned acceleration target value, and a planned jerk target value.
[0058] The scenarios for determining the follow-up descent speed planning information for the next acquisition cycle based on the average signal decay rate and position and altitude information include: determining the planned displacement target value for the next acquisition cycle based on the altitude feedback value and average signal decay rate of the current acquisition cycle; and determining the follow-up descent speed planning information for the next acquisition cycle based on the planned displacement target value.
[0059] The planned displacement target value can be the displacement target value output in real time during the velocity planning of the following descent process.
[0060] During the speed planning process of the homing descent, position and height information of the processing head during the homing descent process is detected by position and height detection sensors to obtain position and height information of the current acquisition cycle and the previous acquisition cycle during the homing descent. Based on the position feedback value, height feedback value, and signal decay rate calculation model of the current and previous acquisition cycles, the average signal decay rate of the homing descent process is determined. Based on the height feedback value and average signal decay rate of the current acquisition cycle, the planned displacement target value of the next acquisition cycle is determined. Based on the planned displacement target value, the homing descent speed planning information of the next acquisition cycle is determined.
[0061] Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment.
[0062] In this embodiment, as Figure 2 As shown, step 104 includes sub-steps 202 to 204.
[0063] Step 202: Determine the single-cycle signal decay rate during the follow-up descent process based on the position feedback value and the altitude feedback value.
[0064] The single-cycle signal decay rate can be defined as the decay of the capacitance signal within a single acquisition cycle.
[0065] The scenarios for determining the single-cycle signal decay rate during the homing descent process based on position and altitude feedback values include: obtaining the difference between the position feedback value of the current acquisition cycle and the previous acquisition cycle, and the difference between the altitude feedback value of the current acquisition cycle and the previous acquisition cycle; and determining the single-cycle signal decay rate during the homing descent process based on the difference between the position and altitude feedback values.
[0066] Step 204: Based on the single-cycle signal decay rate and the signal decay rate calculation model, determine the average signal decay rate during the follow-up falling process.
[0067] Based on the single-cycle signal decay rate and the signal decay rate calculation model, the following scenarios are used to determine the average signal decay rate during the follow-up falling process: obtaining a preset moving average window size; substituting the preset moving average window size and the single-cycle signal decay rate into the signal decay rate calculation model to determine the average signal decay rate during the follow-up falling process.
[0068] The preset moving average window size can be a preset data range used to calculate the average decay of the capacitance signal during the follow-up descent.
[0069] Based on the difference between the position feedback value and the height feedback value, the single-cycle signal decay rate during the homing descent process is determined as follows:
[0070]
[0071] In the formula, H cur H indicates the current cycle feedback position of the servo. last L indicates the servo's feedback position in the previous cycle. cur L represents the current periodic sensor feedback height. last This indicates the height reported by the sensor in the previous cycle.
[0072] The double exponential moving average function is as follows:
[0073]
[0074] In the formula, y t b represents the smoothed horizontal term. t The trend term is represented by α∈[0,1], the smoothing coefficient is represented by β∈[0,1].
[0075] Figure 3 This is a schematic diagram of the specific process of step 106 in one embodiment.
[0076] In this embodiment, as Figure 3 As shown, step 106 includes sub-steps 302 to 304.
[0077] Step 302: Obtain the initial motion characteristic parameters and velocity planning constraint values of the follow-up falling process.
[0078] The initial motion characteristic parameters can be the motion parameters at the start of each velocity planning cycle. The velocity planning constraint values can be the maximum values of the motion parameters allowed by the follow-up falling velocity planning.
[0079] Optionally, the initial motion characteristic parameters include the initial velocity and initial acceleration for any acquisition cycle; the velocity planning constraint values include acceleration constraint values and jerk constraint values. The acceleration constraint value can be the maximum allowable acceleration value during the follow-up descent. The jerk constraint value can be the maximum allowable jerk value during the follow-up descent.
[0080] Step 304: Using velocity planning constraint values as constraints, determine the follow-up falling velocity planning information for the next acquisition cycle based on the planned displacement target value and initial motion characteristic parameters.
[0081] Using velocity planning constraints as conditions, and based on the planned displacement target value and initial motion characteristic parameters, the following scenarios are used to determine the follow-up falling velocity planning information for the next acquisition cycle: determining the planned velocity target value for the next acquisition cycle based on the planned displacement target value; using acceleration constraints as conditions, determining the planned acceleration target value for the next acquisition cycle based on the planned velocity target value and the initial velocity of any acquisition cycle; and using jerk constraints as conditions, determining the planned jerk target value for the next acquisition cycle based on the planned acceleration target value and the initial acceleration of any acquisition cycle.
[0082] Using velocity planning constraints as conditions, and based on the planned displacement target value and initial motion characteristic parameters, the following scenario determines the follow-up falling velocity planning information for the next acquisition cycle:
[0083] That is, the calculated signal decay rate is fed back into the speed planning to correct the actual planned route:
[0084]
[0085] Among them, H actual This represents the target displacement value output in real time by the velocity planning algorithm.
[0086] Based on the planned displacement target value, determine the planned velocity target value for the next acquisition cycle:
[0087]
[0088] Using acceleration constraint values as conditions, the planned acceleration target value for the next acquisition cycle is determined based on the planned velocity target value and the initial velocity of any acquisition cycle.
[0089]
[0090] Using jerk constraint values as constraints, the planned jerk target value for the next acquisition cycle is determined based on the planned jerk target value and the initial acceleration of any acquisition cycle.
[0091]
[0092] Among them, V s a s Let A represent the initial velocity and initial acceleration of the input velocity planning in each cycle, respectively. max J max These represent the acceleration constraint value and the jerk constraint value, respectively.
[0093] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least one sub-step described above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. It should be noted that the different embodiments described above can be combined with each other.
[0094] Figure 4 This is a schematic block diagram of the structure of a follow-up falling control device in one embodiment.
[0095] In this embodiment, as Figure 4 As shown, the follow-up descent control device is applied to machining trajectories including interpolation axes and coupling axes. The follow-up descent control device includes an acquisition module 20, an average attenuation determination module 40, and a speed planning module 60.
[0096] The acquisition module 20 is used to acquire the position and height information of the current acquisition cycle and the previous acquisition cycle, as well as the signal decay rate calculation model during the follow-up descent process.
[0097] The average attenuation determination module 40, connected to the acquisition module 20, is used to determine the average signal attenuation rate during the descent process based on the position height information and the signal attenuation rate calculation model.
[0098] The speed planning module 60 is connected to the average attenuation determination module 40 and is used to determine the follow-up falling speed planning information for the next acquisition cycle based on the average signal attenuation rate and position height information.
[0099] In this embodiment, each module is used to execute Figure 1 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments will not be repeated here.
[0100] The follow-up descent control device provided in this embodiment, during the follow-up descent speed planning process, determines the average signal decay rate of the follow-up descent process, which reflects the decay of the detection signal, based on the position and height information (such as position feedback value and height feedback value) of the current acquisition cycle and the previous acquisition cycle, and the signal decay rate calculation model. Based on the obtained average signal decay rate and position and height information (such as the height feedback value of the current acquisition cycle), it determines the follow-up descent speed planning information (such as planned speed, planned acceleration, and planned jerk) for the next acquisition cycle, which can adjust the trajectory state of the speed planning during the follow-up descent process. This allows for adjustment of the trajectory state of the speed planning based on the signal attenuation during the follow-up descent process, effectively mitigating the risk of machine tool cutting head overshooting or even collisions due to untimely processing of decay signals during high-speed follow-up descent. It can ensure both the efficiency and accuracy and adjustability of the follow-up descent, thereby meeting higher requirements for CNC machining effects.
[0101] Figure 5 This is a schematic block diagram of the specific structure of the average attenuation determination module 40 in one embodiment.
[0102] In this embodiment, as Figure 5 As shown, the average attenuation determination module 40 includes a periodic attenuation determination unit 420 and an average attenuation determination unit 440.
[0103] The periodic decay determination unit 420 is used to determine the single-cycle signal decay rate during the follow-up descent process based on the position feedback value and the altitude feedback value.
[0104] The average attenuation determination unit 440 is connected to the periodic attenuation determination unit 420 and is used to determine the average signal attenuation rate during the follow-up falling process based on the single-cycle signal attenuation rate and the signal attenuation rate calculation model.
[0105] In this embodiment, each unit is used to perform Figure 2 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 2 as well as Figure 2 The relevant descriptions in the corresponding embodiments will not be repeated here.
[0106] Figure 6 This is a schematic block diagram of the specific structure of the speed planning module 60 in one embodiment.
[0107] In this embodiment, as Figure 6As shown, the speed planning module 60 includes a feature information acquisition unit 620 and a speed planning unit 640.
[0108] The feature information acquisition unit 620 is used to acquire the initial motion feature parameters and velocity planning constraint values of the follow-up falling process.
[0109] The velocity planning unit 640, connected to the feature information acquisition unit 620, is used to determine the follow-up falling velocity planning information for the next acquisition cycle based on the planned displacement target value and the initial motion feature parameters, with the velocity planning constraint value as the constraint condition.
[0110] In this embodiment, each unit is used to perform Figure 3 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 3 as well as Figure 3 The relevant descriptions in the corresponding embodiments will not be repeated here.
[0111] The units in this embodiment are used to perform the steps in the corresponding embodiments described above. For details, please refer to the relevant descriptions in the corresponding embodiments described above, which will not be repeated here.
[0112] The division of the modules in the above-described follow-up descent control device is only for illustrative purposes. In other embodiments, the follow-up descent control device can be divided into different modules as needed to complete all or part of the functions of the above-described follow-up descent control device.
[0113] Specific limitations regarding the follow-up descent control device can be found in the limitations of the follow-up descent control method described above, and will not be repeated here. Each module in the aforementioned follow-up descent control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the processing equipment, or stored in software in the memory of the processing equipment, so that the processor can call and execute the corresponding operations of each module.
[0114] Figure 7 This is a schematic diagram of the processing equipment in one embodiment.
[0115] In this embodiment, as Figure 7 As shown, the processing equipment includes a memory A1 and a processor A2; it may also include a display screen A3, a communication interface, and a bus. Optionally, the processing equipment may be a CNC machining equipment.
[0116] The memory A1, processor A2, display screen A3, and communication interface can communicate with each other via a bus; the display screen A3 is configured to display the user operation interface preset in the initial setting mode, and the display screen A3 can also display the process control window; the communication interface can transmit information; the memory A1 stores computer programs, and the processor A2 can call the logical instructions in the memory A1 to execute the methods in the above embodiments.
[0117] Furthermore, the logic instructions in the aforementioned memory A1 can be implemented as software functional units and, when sold or used as independent workpieces, can be stored in a computer-readable storage medium.
[0118] Memory A1, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of this application. Processor A2 executes functional applications and data processing by running the software programs, instructions, or modules stored in memory A1, thereby implementing the methods in the above embodiments.
[0119] Memory A1 includes a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, memory A1 may include high-speed random access memory and may also include non-volatile memory.
[0120] Processor A2 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
[0121] This application also provides a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the methods described above.
[0122] This application also provides a computer program product that, when run on a terminal device, causes the terminal device to execute the methods described in the above embodiments.
[0123] The following embodiments of the homing descent control method, device, processing equipment, and readable storage medium, in the process of homing descent speed planning, determine the average signal decay rate of the homing descent process that reflects the decay of the detection signal based on the position and height information (such as position feedback value and height feedback value) of the current acquisition cycle and the previous acquisition cycle, and the signal decay rate calculation model. Based on the obtained average signal decay rate and position and height information (such as the height feedback value of the current acquisition cycle), they determine the homing descent speed planning information (such as planned speed, planned acceleration, and planned jerk) for the next acquisition cycle that can adjust the trajectory state of the homing descent speed planning. This allows for adjustment of the trajectory state of the speed planning based on the signal attenuation during homing descent, effectively mitigating the risk of machine tool cutting head overshoot or even collision due to untimely processing of decay signals during high-speed homing descent. It ensures both the efficiency and accuracy and adjustability of homing descent, thereby meeting higher requirements for CNC machining effects and possessing significant economic and practical value.
[0124] Any references to memory, storage, databases, or other media used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).
[0125] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0126] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A follow-up fall control method characterized by, The method comprises the following steps: obtaining position height information of a current collection period and a previous collection period in a follow-up falling process and a signal decay rate calculation model; determining an average signal decay rate of the follow-up falling process according to the position height information and the signal decay rate calculation model; determining follow-up falling speed planning information of a next collection period according to the average signal decay rate and the position height information.
2. The follow-up drop control method according to claim 1, characterized by, The position height information comprises position feedback values and height feedback values of the current collection period and the previous collection period, and the determination of the average signal decay rate of the follow-up falling process according to the position height information and the signal decay rate calculation model comprises the following steps: determining a single-period signal decay rate of the follow-up falling process according to the position feedback values and the height feedback values; determining the average signal decay rate of the follow-up falling process according to the single-period signal decay rate and the signal decay rate calculation model.
3. The follow-up drop control method according to claim 2, characterized by, The determination of the average signal decay rate of the follow-up falling process according to the single-period signal decay rate and the signal decay rate calculation model comprises the following steps: obtaining a preset moving average window size; determining the average signal decay rate of the follow-up falling process by substituting the preset moving average window size and the single-period signal decay rate into the signal decay rate calculation model.
4. The follow-up drop control method according to claim 2, characterized by, The determination of the single-period signal decay rate of the follow-up falling process according to the position feedback values and the height feedback values comprises the following steps: obtaining differences between position feedback values of the current collection period and the previous collection period and differences between height feedback values of the current collection period and the previous collection period; determining the single-period signal decay rate of the follow-up falling process according to the differences between the position feedback values and the differences between the height feedback values.
5. The follow-up drop control method according to claim 1, characterized by, The position height information comprises a height feedback value of the current collection period, and the determination of the follow-up falling speed planning information of the next collection period according to the average signal decay rate and the position height information comprises the following steps: determining a planned displacement target value of the next collection period according to the height feedback value of the current collection period and the average signal decay rate; determining the follow-up falling speed planning information of the next collection period according to the planned displacement target value.
6. The follow-up drop control method according to claim 5, characterized by, The determination of the follow-up falling speed planning information of the next collection period according to the planned displacement target value comprises the following steps: obtaining initial motion characteristic parameters and speed planning constraint values of the follow-up falling process; determining the follow-up falling speed planning information of the next collection period according to the planned displacement target value and the initial motion characteristic parameters under the constraint condition of the speed planning constraint values.
7. The follow-up drop control method according to claim 6, characterized by, The speed planning constraint values comprise acceleration constraint values and jerk constraint values, and the initial motion characteristic parameters comprise initial speeds and initial accelerations of any collection period. The determination of the follow-up falling speed planning information of the next collection period according to the planned displacement target value comprises the following steps: determining a planned speed target value of the next collection period according to the planned displacement target value; determining a planning acceleration target value of a next acquisition cycle according to the planning speed target value, an initial speed of the any acquisition cycle, with the acceleration constraint value as a constraint condition; determining a planning jerk target value of a next acquisition cycle according to the planning acceleration target value, an initial acceleration of the any acquisition cycle, with the jerk constraint value as a constraint condition.
8. A follow-up fall control device, characterized by The method comprises the steps of: an acquisition module, configured to acquire position height information of a current acquisition cycle and a previous acquisition cycle in a follow-up falling process and a signal decay rate calculation model; an average attenuation determination module, connected with the acquisition module, configured to determine an average signal decay rate of the follow-up falling process according to the position height information and the signal decay rate calculation model; a speed planning module, connected with the average attenuation determination module, configured to determine follow-up falling speed planning information of a next acquisition cycle according to the average signal decay rate and the position height information.
9. A processing apparatus characterized by comprising: The computer program is executed by the processor to implement the method in any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method in any one of claims 1 to 7.